When the coal mine auxiliary transport monorail crane equipment runs at the vertical bend in the underground roadway,the suspension connection of the monorail bearing track or the web position of the track will bend and even break.The three-dimensional model of monorail equipment,track and suspension is established using SolidWorks.The angle α between the two continuous I140E tracks used by monorail and the angle β between the connecting rod and track of the last bearing car of the lifting beam and the first driving part below the monorail heavy load during vertical turning are taken as the variables.With the maximum stress and maximum strain of the track under impact as constraints,the driving and track of the monorail crane are analyzed,and the cause of track failure is found by combining the failure location of the track.The DC280/160Y explosion-proof diesel 10-drive monorail crane of Shijiazhuang Coal Mine Machinery Co.,Ltd.is selected.Through analysis,calculation,modeling and simulation,the optimization scheme of auxiliary transportation continuous operation is proposed.Combined with engineering verification,the reliability of the scheme is proved,which provides experience for the efficient and safe continuous operation of auxiliary transportation equipment in coal mine.
以某企业生产的T-500B高速钻铣加工中心为研究对象,利用有限元仿真软件对机床实际工况下丝杆进给系统的热特性进行模拟分析,寻找出进给系统与结构铸件间的整体热变形规律,同时还根据丝杆的热变形规律,分别通过考虑结构铸件变形与否这两种不同情况,建立起机床进给系统相应的热误差模型并进行模拟验证分析,最终得出了两种情况下丝杆在有效行程范围内的热误差曲线,提高了热误差模型的准确性,对机床热误差预测模型的构建具有一定的参考价值.
Soft pneumatic actuators are often used as soft grippers, but when grasping objects with large mass, they often deform due to reaction forces, resulting in grasping failure. Aiming at this phenomenon, this paper presents a vision-based deformation observation method for soft pneumatic actuators. Taking camera records the bending deformation pictures of the soft pneumatic actuator under different air pressures, and the deformation curve of the actuator is extracted by visual processing method in order to observe the deformation of the driver more accurately. The finite element simulation software ABAQUS is used to simulate and analyze the deformation of the actuator under different air pressures and extract the deformation curve. By comparing the similarity between the experimental curve and the simulation curve, the results show that the method of extracting the driver deformation curve based on vision can more accurately observe the deformation of the driver.
The feeding selector is the key equipment in the feeding system.This paper carries out research on the current situation of the feeding selector at home and abroad,analyzes a variety of feeding selector structures and the key design points.A feeding selector structure is designed according to the requirements of a project,the controlling process is designed.The stability of the equipment is verified through tests.Considering the needs of the users and in view of the industry development trend,the optimization direction of the equipment is proposed and the relevant resolution which provides reference and guidance for the design of other feeding selector is given.
In order to realize the functions of rapid Autonomous Simultaneous Localization and Mapping(SLAM),accurate path planning and obstacle avoidance of mobile robots in unknown environments,this paper uses Jetson nano as the main control,SMT32 as the lower computer,and uses the depth camera RGB-D,inertial navigation sensor IMU,laser radar and other sensors to build the hardware system of the autonomous mobile robots.The control system is based on ROS system,and a"RGB-D+IMU+lidar"multi-sensor fusion SLAM strategy is proposed,and the ORB-SLAM3 algorithm is used to realize fast real-time Simultaneous Localization and Mapping(SLAM).Dijkstra algorithm is used as the global route planning algorithm,and DWA algorithm is used as the local route planning algorithm to realize path planning and obstacle avoidance.Finally,the experiment is carried out in the real environment,and the results show that the expected effect is achieved.
